Design Of Automatic Laminating System Of Silicon Steel Sheet For Motor

Machine vision and robot technology are widely used in production and daily life,which not only makes production more efficient and safe,but also makes life more convenient and comfortable.The lamination of traditional motor silicon steel sheet is manually stacked.Aiming at the problems of low efficiency and low safety in manual stacking silicon steel sheet,this paper analyzes the research status of laminating machine,machine vision and mechanical arm at home and abroad,and designs an automatic lamination system of motor silicon steel sheet to replace manual lamination.The working process of the system is as follows: the image of the silicon steel sheet is taken by the camera,and the result is sent to the software for processing.Then the result is sent to the single chip microcomputer,which drives the mechanical arm to grab and stack the silicon steel sheet.The system is mainly divided into visual part and motion part.The vision part mainly includes light source and camera.The image captured by camera is processed by image processing technology to get the center point coordinates and rotation angle.The specific methods are as follows: using the camera to collect the image of silicon steel sheet,and correct the distortion of the image firstly;then preprocess the image,and calculate the center point of the image,namely feature point 1,then finding the most characteristic area inside the silicon steel sheet through the connected domain method,and calculate the center point of the feature area,namely feature point 2,finally calculating the angle between the two feature points,namely the rotation angle of the steel sheet.A method to judge the front and back sides of asymmetric silicon steel sheet is given.A monitoring interface is designed by using Matlab GUI to complete the communication between PC,camera and MCU.The moving part mainly includes a manipulator and an end-effector.The manipulator adopts a 6-DOF manipulator and the end-effector is an electromagnet.Firstly,the D-H coordinate system of the manipulator is established by using D-H parameters.Then the kinematics equations of the manipulator,that is,the solution process of forward motion and inverse motion,are obtained by analyzing.Finally,the modeling of the manipulator is visualized by using MATLAB robotics toolbox.The electromagnet is analyzed by using ANSYS Maxwell electromagnetic field analysis software,and the factors affecting the electromagnet suction are obtained.Based on this,the structure of the electromagnetic chuck is designed.After setting up the system platform,it has to debug the system.The rotation angle error of silicon steel sheet measured by machine vision technology is less than 0.2 °,which can meet the requirements of traditional silicon steel sheet production and lamination.The mechanical arm can move freely within the arm length range,which can successfully complete the grasping and lamination of silicon steel sheet.The debugging results show that the system can accurately extract the image information and complete the silicon steel lamination work.The system design is reliable,which provides a reference for the subsequent system improvement and optimization.